Cooperative-Autonomous-Picar

Self driving PiCars using a lane keep algorithm and communication protocol to simulate lane merge scenario.

Potocol Paper:

W. Xu, A. Willecke, M. Wegner, L. Wolf and R. Kapitza, "Autonomous Maneuver Coordination Via Vehicular Communication,", https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8806001

Lane Keep Assist System:

D. Tian, "How to Build a Deep Learning, Self Driving Robotic Car on a Shoestring Budget," https://towardsdatascience.com/deeppicar-part-1-102e03c83f2c.

Installation

Full Guide

1. cd ~
2. git clone https://github.com/sunfounder/SunFounder_PiCar-V -b V3.0
3. cd ~/SunFounder_PiCar-V
4. sudo ./install_dependencies
5. cd ~/SunFounder_PiCar-V
6. picar servo-install

Starting the server:

• cd ~/SunFounder_PiCar-V/remote-control
• sudo ./start

Wheel Calibration

Clibrate the wheels using the web browser when you run sudo ./start there will be a calibration place, move the front wheels and click OK. Then use the offset in the config file of the source code.

Make sure the ports are open: sudo ufw disable

Ad Hoc Wireless Network

Guide

Guide 2

Setup

cd /etc/network

# Backup
sudo cp interfaces wifi-interface
sudo nano adhoc-interface

First car

auto wlan0
iface wlan0 inet static
    address 192.168.4.1
    netmask 255.255.255.0
    wireless-channel 1
    wireless-essid RPitest
    wireless-mode ad-hoc

Second car

auto wlan0
iface wlan0 inet static
    address 192.168.4.2
    netmask 255.255.255.0
    wireless-channel 1
    wireless-essid RPitest
    wireless-mode ad-hoc

Now enable it by replacing the interfaces file

cd /etc/network
sudo cp /etc/network/adhoc-interface interfaces

MUST DO: sudo nano /etc/dhcpcd.conf

Set the file to only have the following.

denyinterfaces wlan0

This took ages to figure out, you must do this in order to stop wlan0 not using the static ip. DHCP client will try see if there is anything to connect to and assign an ip, this is not what we want.

Use this if there are issues https://github.com/simondlevy/RPiAdHocWiFi